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   <div id="projectname">Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin
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   <div id="projectbrief">Global path planner plugin for ROS Kinetic Kame that uses the RRT algorithm</div>
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<div class="title">turtlebot_rrt.h</div>  </div>
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<a href="turtlebot__rrt_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * @copyright Copyright (C) 2017, Jessica Howard </span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * @author Jessica Howard</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * @file turtlebot_rrt/include/turtlebot_rrt/turtlebot_rrt.h</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * @brief Algorithm to make the turtlebot move around a gazebo workspace</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * @detail The turtlebot will move forward in a straight line until</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * encountering an obstacle. The turtlebot will then rotate until a clear</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * path is available and again drive forward. Rinse and repeat until you</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * get bored of watching.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * </span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * </span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * @license 3-Clause BSD License</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions are met:</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived from</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *     this software without specific prior written permission.</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef SRC_TURTLEBOT_RRT_H_</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define SRC_TURTLEBOT_RRT_H_</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;boost/random.hpp&gt;</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;move_base_msgs/MoveBaseAction.h&gt;</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/Twist.h&gt;</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/PoseWithCovarianceStamped.h&gt;</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#include &lt;move_base_msgs/MoveBaseGoal.h&gt;</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#include &lt;move_base_msgs/MoveBaseActionGoal.h&gt;</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#include &quot;sensor_msgs/LaserScan.h&quot;</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#include &quot;sensor_msgs/PointCloud2.h&quot;</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/Odometry.h&gt;</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/OccupancyGrid.h&gt;</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/Path.h&gt;</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#include &lt;nav_msgs/GetPlan.h&gt;</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="preprocessor">#include &lt;tf/tf.h&gt;</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">#include &lt;tf/transform_datatypes.h&gt;</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">#include &lt;tf/transform_listener.h&gt;</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">#include &lt;visualization_msgs/Marker.h&gt;</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="preprocessor">#include &lt;visualization_msgs/MarkerArray.h&gt;</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="preprocessor">#include &lt;costmap_2d/costmap_2d_ros.h&gt;</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="preprocessor">#include &lt;costmap_2d/costmap_2d.h&gt;</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="preprocessor">#include &lt;nav_core/base_global_planner.h&gt;</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/PoseStamped.h&gt;</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">#include &lt;angles/angles.h&gt;</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="preprocessor">#include &lt;base_local_planner/world_model.h&gt;</span></div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="preprocessor">#include &lt;base_local_planner/costmap_model.h&gt;</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="vertex_8h.html">turtlebot_rrt/vertex.h</a>&quot;</span></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="namespaceturtlebot__rrt.html">   87</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceturtlebot__rrt.html">turtlebot_rrt</a> {</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  </div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classturtlebot__rrt_1_1_r_r_t_planner.html">   89</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classturtlebot__rrt_1_1_r_r_t_planner.html">RRTPlanner</a> : <span class="keyword">public</span> nav_core::BaseGlobalPlanner {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    </div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="classturtlebot__rrt_1_1_r_r_t_planner.html#a64bd617e0889067fb6a2514b304939f0">RRTPlanner</a>();</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    </div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <a class="code" href="classturtlebot__rrt_1_1_r_r_t_planner.html#a64bd617e0889067fb6a2514b304939f0">RRTPlanner</a>(std::string name, costmap_2d::Costmap2DROS* costmap_ros);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    </div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classturtlebot__rrt_1_1_r_r_t_planner.html#a55b8df1e76bd8daf5411bbaaea058102">initialize</a>(std::string name,</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                    costmap_2d::Costmap2DROS* costmap_ros);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    </div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classturtlebot__rrt_1_1_r_r_t_planner.html#a923e270ae622186b06cfbb44fc1b50b0">makePlan</a>(<span class="keyword">const</span> geometry_msgs::PoseStamped&amp; start,</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                  <span class="keyword">const</span> geometry_msgs::PoseStamped&amp; goal,</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                  std::vector&lt;geometry_msgs::PoseStamped&gt;&amp; plan);</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    </div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    </div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    ros::NodeHandle node_handle_;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    </div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    ros::Publisher pub_tree_;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    </div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    std::vector&lt;bool&gt; obstacle_map_;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    </div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    costmap_2d::Costmap2DROS* costmap_ros_;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    </div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordtype">int</span> max_iterations_;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    </div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordtype">int</span> current_iterations_;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    </div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    costmap_2d::Costmap2D* costmap_;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    </div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    base_local_planner::WorldModel* world_model_;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    </div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordtype">bool</span> initialized_;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    </div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordtype">float</span> goal_radius_;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    </div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordtype">float</span> step_size_;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    </div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordtype">float</span> delta_;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    </div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordtype">float</span> x_origin_;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordtype">float</span> y_origin_;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    </div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordtype">float</span> x_goal_;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    </div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordtype">float</span> y_goal_;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    </div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordtype">int</span> map_width_;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    </div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordtype">int</span> map_height_;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    </div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> map_width_cells_;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    </div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> map_height_cells_;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    </div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    std::vector&lt;turtlebot_rrt::Vertex&gt; vertex_list_;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    </div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    std::pair&lt;float, float&gt; GetRandomPoint();</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    </div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordtype">int</span> GetClosestVertex(std::pair&lt;float, float&gt; random_point);</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    </div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordtype">bool</span> MoveTowardsPoint(<span class="keywordtype">int</span> closest_vertex,</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;                            std::pair&lt;float, float&gt; random_point);</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    </div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordtype">float</span> GetDistance(std::pair&lt;float, float&gt; start_point,</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                       std::pair&lt;float, float&gt; end_point);</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    </div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keywordtype">bool</span> ReachedGoal(<span class="keywordtype">int</span> new_vertex);</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    </div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keywordtype">int</span> FindPath(<span class="keyword">const</span> geometry_msgs::PoseStamped&amp; start, </div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                  <span class="keyword">const</span> geometry_msgs::PoseStamped&amp; goal);</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    </div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordtype">bool</span> IsSafe(std::pair&lt;float, float&gt; start_point, </div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                std::pair&lt;float, float&gt; end_point);</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    </div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    std::vector&lt;geometry_msgs::PoseStamped&gt;</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      BuildPlan(<span class="keywordtype">int</span> goal_index,</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                 <span class="keyword">const</span> geometry_msgs::PoseStamped&amp; start, </div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                 <span class="keyword">const</span> geometry_msgs::PoseStamped&amp; goal);</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    };</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;}</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="preprocessor">#endif // SRC_TURTLEBOT_RRT_H_</span></div><div class="ttc" id="classturtlebot__rrt_1_1_r_r_t_planner_html_a64bd617e0889067fb6a2514b304939f0"><div class="ttname"><a href="classturtlebot__rrt_1_1_r_r_t_planner.html#a64bd617e0889067fb6a2514b304939f0">turtlebot_rrt::RRTPlanner::RRTPlanner</a></div><div class="ttdeci">RRTPlanner()</div><div class="ttdoc">Constructor for RRTPlanner. </div><div class="ttdef"><b>Definition:</b> turtlebot_rrt.cc:45</div></div>
<div class="ttc" id="namespaceturtlebot__rrt_html"><div class="ttname"><a href="namespaceturtlebot__rrt.html">turtlebot_rrt</a></div><div class="ttdef"><b>Definition:</b> turtlebot_rrt.h:87</div></div>
<div class="ttc" id="vertex_8h_html"><div class="ttname"><a href="vertex_8h.html">vertex.h</a></div></div>
<div class="ttc" id="classturtlebot__rrt_1_1_r_r_t_planner_html"><div class="ttname"><a href="classturtlebot__rrt_1_1_r_r_t_planner.html">turtlebot_rrt::RRTPlanner</a></div><div class="ttdef"><b>Definition:</b> turtlebot_rrt.h:89</div></div>
<div class="ttc" id="classturtlebot__rrt_1_1_r_r_t_planner_html_a923e270ae622186b06cfbb44fc1b50b0"><div class="ttname"><a href="classturtlebot__rrt_1_1_r_r_t_planner.html#a923e270ae622186b06cfbb44fc1b50b0">turtlebot_rrt::RRTPlanner::makePlan</a></div><div class="ttdeci">bool makePlan(const geometry_msgs::PoseStamped &amp;start, const geometry_msgs::PoseStamped &amp;goal, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan)</div><div class="ttdoc">follows the virtual method of the base class </div><div class="ttdef"><b>Definition:</b> turtlebot_rrt.cc:116</div></div>
<div class="ttc" id="classturtlebot__rrt_1_1_r_r_t_planner_html_a55b8df1e76bd8daf5411bbaaea058102"><div class="ttname"><a href="classturtlebot__rrt_1_1_r_r_t_planner.html#a55b8df1e76bd8daf5411bbaaea058102">turtlebot_rrt::RRTPlanner::initialize</a></div><div class="ttdeci">void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros)</div><div class="ttdoc">Initialize the ros handle. </div><div class="ttdef"><b>Definition:</b> turtlebot_rrt.cc:54</div></div>
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